Modern Tools for Planetary Science: Using Laser Scanning Mapping Techniques for 3D Registration of Sample Locations in Lava Caves

Survey lidar scans offer an effective solution for collecting data in low-light and dark environments. The scans are also capable of recording specific target information. In August 2018, we mapped Valentine Cave at Lava Beds National Monument (N. CA, USA) using survey lidar scanning. In post-processing, a full map of the cave was created based on 117 scans collected over the ~0.65 km cave length using the FARO Focus M 70 for scanning and SCENE 2019 software for processing. Targets of scientific interest inside the cave were denoted using 3-cm orbs, propped against the cave wall and supported by wooden dowels, along three 20m sections (transects) of Valentine Cave. Scans of the locations of the orbs were superimposed on the initial cave map to obtain accurate, 3D locations of each transect segment and target point within Valentines. The 3D coordinate data were used to compare and evaluate correlations among the targets (i.e., statistical cluster features) which were selected by astrobiology scientists as they examined the transects during a timed activity inside the cave. These results were compared with a Mars Underground Mission Simulation exercise using a surface, remote team and the NASA Ames Testing Rover, CaveR. The map also generated useful geological and physical parameter data that will be used to identify future scientific sampling sites. Application of the mapping and evaluation techniques improved our quantitative understanding of correlations between life-relevant features (air, water, and basaltic flow textures) present in terrestrial caves and possible target regions of interest for planetary caves. This work is part of The NASA BRAILLE Project, supported by the NASA PSTAR Program NNH16ZDA001N.